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TMCL: Interrupt Input Change

TMCL is the simple way to implement your motion control application. With this series of simple coding examples we want to provide you an easy start.

This programs demonstrates how to the interupt on an input change. The behaviour of this program is the same as EX0008. Depending on the status of Port IN_0 is motor 0 turning right (IN_0 = 0) or turning left (IN_0 = 1).

Before use: Restore Factory Defaults

// *** Values that have to be adapted *** //
amax = 1000					//max. acceleration (0 ... 2047)
vmax = 2000					//max. speed (0 ... 2047)
cmax = 100					//max. current (0 ... 255)

// *** Initialization / Set up axis parameter *** //
SAP 5, 0, amax				//set max. acceleration
SAP 6, 0, cmax    			//set max. current

// *** Interrupt initialization *** //
VECT 39, changeRotation 	//define the interrupt vector for input change 0 interrupt (IN_0)
SGP 39, 3, 3 				//configure interrupt to trigger on both edge of input 0 (0=off,1=low-high,2=high-low,3=both)
EI 39 						//enable input change 0 interrupt (IN_0)
EI 255 						//globally switch on interrupt processing

// *** Main Loop *** //
loop:						//infinite loop
	JA loop					//jump to loop

changeRotation:
	GIO 0, 0    			//read IN_0
	COMP 0					//compare with 0
	JC EQ, turnRight		//if equal jump to turn right
	ROL 0, vmax				//if not equal turn left at vmax
	RETI					//end of interrupt
turnRight:
	ROR 0, vmax				//turn right at vmax
	RETI					//end of interrupt

For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110.

Categories: Code Snippet, Tutorial

Tags: digital input, input, interrupt, TMCL

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